CN110182503A - A kind of AGV handling device and method for carrying for stereo warehouse - Google Patents
A kind of AGV handling device and method for carrying for stereo warehouse Download PDFInfo
- Publication number
- CN110182503A CN110182503A CN201910378590.4A CN201910378590A CN110182503A CN 110182503 A CN110182503 A CN 110182503A CN 201910378590 A CN201910378590 A CN 201910378590A CN 110182503 A CN110182503 A CN 110182503A
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- China
- Prior art keywords
- wheel
- carrying
- handling device
- main body
- vehicle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The invention discloses a kind of AGV handling devices for stereo warehouse, including carry main body, and the bottom for carrying main body is equipped with universal wheel and drives the speed reduction driving mechanism for power of universal wheel；Lifting device, lifting device is mounted in carrying main body and expandable；Bogey, bogey include carrying platform and wheel plate, and carrying platform is fixedly mounted on the top of lifting device, and wheel plate is mounted on the upper surface of carrying platform；Drive clamping device, driving clamping device includes that clamping main body, jack unit and top are supplied gas cylinder, clamping main body is fixed between two wheel plates, push up two opposite flanks that cylinder of supplying gas is mounted on clamping main body, jack unit is mounted on the inside of wheel of the top for pushing up cylinder of supplying gas for holding out against wanted carrying vehicle, and method for carrying is comprising steps of S100, measurement；S200, loading；S300, limit；S400, transport；S500, lifting；S600, unload: the present invention simplifies haulage equipment, improves handling efficiency.
Description
Technical field
It is specially a kind of for the AGV handling device of stereo warehouse and carrying the present invention relates to automobile automatic transporting field
Method.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to and magnetically or optically waits automatically equipped with electricity
Guiding device can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions, industry is answered
The carrier of driver is not required in, with chargeable battery for its power resources.It can pass through computer generally to control its row
Route line and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Travelling route, electromagnetic path stick on floor, automatic guided vehicle then follow message brought by electromagnetic path carry out it is mobile with
Movement.
AGV compared with walking, is creeped or other non-wheeled mobile robots have action fast characterized by wheel type mobile
The prompt, advantages such as work efficiency is high, structure is simple, controllability is strong, safety is good.With other equipment phase common in material conveying
Than the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned metaplasia
It produces.
But existing automatically guiding trolley has the following deficiencies:
(1) many garages AGV use vehicle-carrying plate when carrying vehicle at present, and vehicle first choice is parked in when specific operation
On vehicle-carrying plate, then AGV removes vehicle-carrying plate together with vehicle.This mode firstly the need of the very more vehicle-carrying plate of manufacture (almost
Each parking stall one), and each vehicle-carrying plate requires to design by dead weight, while the load carried of AGV is also significantly
Increase；
(2) common AGV handling device itself is also designed than cumbersome.Due to the limitation of the size of vehicle-carrying plate, for
Status requirement of the vehicle parking on vehicle-carrying plate is also relatively high, increases parking difficulty；
(3) when automotive operation Freight Transport, multilayer loading is usually carried out on lorry, generally use loop wheel machine or the gradient
For plate by vehicle operation to lorry, project amount is huge, and working efficiency is low, increases cost of labor.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provide a kind of AGV handling device for stereo warehouse and
Method for carrying can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of AGV handling device for stereo warehouse, including main body is carried, the bottom for carrying main body is equipped with ten thousand
To the speed reduction driving mechanism for power for taking turns and driving the universal wheel；
Lifting device, the lifting device is mounted in carrying main body and expandable；
Bogey, the bogey include carrying platform and the wheel plate that rolls for wheel, the carrying platform
It is fixedly mounted on the top of lifting device, the upper surface for being mounted on carrying platform of the wheel plate Parallel Symmetric；
Drive clamping device, the driving clamping device includes that clamping main body, jack unit and pushing up is supplied gas cylinder, the folder
Tight main body is fixed between two wheel plates, two opposite flanks pushed up cylinder of supplying gas and be mounted on clamping main body, described
Jack unit is mounted on the inside of wheel of the top for pushing up cylinder of supplying gas for holding out against wanted carrying vehicle.
Further, the speed reduction driving mechanism for power includes combined worm speed reducer and direct current generator, the direct current generator
Output shaft be connected with the input shaft of worm speed reducer by an axis connected device, the output shaft of the worm speed reducer is connected with biography
Moving gear, the transmission gear are connected with the driving wheel engaged, and the universal wheel is mounted on driving wheel, the driving wheel
It is consistent with the steering of universal wheel.
Further, the lifting device includes expansion bracket and angular increment device, and the angular increment device is mounted on
The bottom both ends of expansion bracket are used to be lifted one end of the expansion bracket to special angle.
Further, the wheel plate includes horizontal rolled plate and rolls the gradient rolled plate of board ends, institute positioned at level
The surface for stating horizontal rolled plate and gradient rolled plate is provided with the anti-skid rubber cushion of protrusion, and is provided with and draws on the wheel plate
Lead the guide groove of vehicles while passing.
Further, limit switches are set on the wheel plate, limit the motion state of the driving clamping device.
Further, the width of the clamping main body is less than the chassis spacing between conventional vehicle two-wheeled, and is located at described
The vertical height of jack unit on clamping main body is greater than the height of wheel plate upper surface.
Further, the jack unit includes that plate, the pressure are sent in pressure inductor, ultrasonic sensor and several tops
Inductor and ultrasonic sensor are installed in the side wall for pushing up and sending plate.
A kind of method for carrying of the AGV handling device for stereo warehouse, comprising the following steps:
S100, measurement: measurement needs the wheelspan between carrying vehicle two-wheeled；
S200, loading: vehicle enters on bogey along guide groove；
S300, limit: driving clamping device locks vehicle tyre from the inside of wheel according to the wheelspan of measurement；
S400, transport: vehicle is carried to specified entrucking place through AGV handling device；
S500, lifting: it after vehicle is raised to the level height of entrucking by lifting device, adjusts to the inclination for being suitable for entrucking
Angle；
S600, unload: vehicle is offloaded on transport lorry by AGV handling device.
Further, when unloading, the driving clamping device is run to initial position, and vehicle tyre is in non-locked shape
State.
Further, universal wheel described in multiple groups rotates in same direction in original state, at this time AGV handling device forward motion；Institute
Universal wheel is stated with 90 ° of driving wheel synchronous rotary, AGV handling device transverse movement at this time；The front and back universal wheel rotates not respectively
Same angle, then AGV handling device is turned.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention does not need vehicle-carrying plate, directly by the driving clamping device locking vehicle tyre on bogey, directly
Connect movement；
(2) lifting device that the present invention has can not needed by vehicle lifting to different level heights by it
He can reduce project amount, improve working efficiency ancillary equipment directly by automobile runs to the different loading heights of transport lorry,
Labour is liberated；It can also be retracted to the inner cavity for carrying main body, the structure of compact device when not in use；
Detailed description of the invention
Fig. 1 is the structural schematic diagram of lifting state of the invention；
Fig. 2 is overall structure diagram of the invention；
Fig. 3 is the structural schematic diagram of carrying main body of the invention；
Fig. 4 is the structural schematic diagram of settling phase of the invention；
Fig. 5 is rotational structure schematic diagram of the invention；
Fig. 6 is the flow diagram of the method for carrying of apparatus of the present invention.
Figure label:
1- carries main body；11- universal wheel；12- speed reduction driving mechanism for power；121- worm speed reducer；122- direct current generator；123-
Transmission gear；124- driving wheel；
2- lifting device；21- expansion bracket；22- angular increment device；
3- bogey；31- carrying platform；32- wheel plate；The horizontal rolled plate of 321-；322- gradient rolled plate；323- is anti-
Sliding rubber pad；33- guide groove；34- limit switch；
4- drives clamping device；41- clamping main body；42- jack unit；421- send plate in top；422- pressure inductor；423-
Ultrasonic sensor；43- pushes up cylinder of supplying gas.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 5, the present invention provides a kind of AGV handling devices for stereo warehouse, including have and carry
The carrying main body 1 of locomotive function loads the bogey 3 for needing carrying vehicle, and the driving for vehicle to be fixed clamps
Device 4 and the lifting device 2 for realizing vehicle up and down motion on bogey 3.Handling device of the invention is dedicated for vehicle
Loading transport, structure is simple, easy to operate.
Wherein, the bottom for carrying main body 1 is equipped with universal wheel 11 and drives the speed reduction driving mechanism for power 12 of universal wheel 11.Subtract
Fast driving mechanism 12 includes combined worm speed reducer 121 and direct current generator 122, and the output shaft of direct current generator 122 passes through one
Axis connected device is connected with the input shaft of worm speed reducer 121, and the output shaft of worm speed reducer 121 is connected with transmission gear 123, transmission
Gear 123 is connected with the driving wheel 124 engaged, and universal wheel 11 is mounted on driving wheel 124, driving wheel 124 and universal wheel
11 steering is consistent.AGV handling device is by the way of the driving of rear-wheel differential, in order to enable a system to save cost, convenient for peace
Dress and control, driving motor select DC speed-reducing to replace the combination of direct current generator and speed reducer, while driving wheel and electricity
Machine is also to be attached by driving chain and gear, rather than be connected directly, and is also kept away while increasing lifting capacity in this way
Exempt from the bending of motor shaft.
Wherein, lifting device 2 be mounted on carry main body 1 on and expandable.Lifting device 2 mainly includes expansion bracket 21
With angular increment device 22, the bottom both ends that angular increment device 22 is mounted on expansion bracket 21 are used to be lifted one end of expansion bracket 21
To special angle.When on vehicle loading to lorry, the carrying that certain angle is conducive to automobile is provided.
Wherein, bogey 3 includes carrying platform 31 and the wheel plate 32 rolled for wheel, the fixed peace of carrying platform 31
Mounted in the top of lifting device 2, the upper surface for being mounted on carrying platform 31 of 32 Parallel Symmetric of wheel plate.Preferably, wheel plate
32 include horizontal rolled plate 321 and the gradient rolled plate 322 positioned at horizontal 321 both ends of rolled plate.What gradient rolled plate 322 had
Gradient facilitates automobile bogey 3 up and down.The surface of horizontal rolled plate 321 and gradient rolled plate 322 is provided with protrusion
Anti-skid rubber cushion 323, anti-skid rubber cushion 323 be beneficial to prevent automobile occur on wheel plate 32 come down phenomenon.Wheel plate 32
On be provided with guidance vehicles while passing guide groove 33.
Limit switches 34, the motion state of limit driving clamping device 4 are set on wheel plate 32.When the tire of automobile is complete
Enter on bogey 3 entirely, and its wheel is rolled by limit switch 34, driving clamping device 4 is started to work, and automobile is locked
Tire.
Wherein, driving clamping device 4 including clamping main body 41, jack unit 42 and pushes up cylinder 43 of supplying gas, clamping main body 41
It is fixed between two wheel plates 32, pushes up two opposite flanks that cylinder 43 of supplying gas is mounted on clamping main body 41, jack unit 42 is pacified
It is used to hold out against on the inside of the wheel of wanted carrying vehicle mounted in the top for pushing up cylinder 43 of supplying gas.In order to avoid vehicle and driving clamping device
It rubs, and accurately the tire of vehicle can be locked between 4.Preferably, the width of clamping main body 41 is less than conventional
Chassis spacing between automobile two-wheeled is to adapt to the carrying of different size vehicle.And the jack unit 42 being located on clamping main body 41
Vertical height be greater than 32 upper surface of wheel plate height.
Jack unit 42 includes that plate 421, pressure inductor are sent in pressure inductor 422, ultrasonic sensor 423 and several tops
422 and ultrasonic sensor 423 be installed in top and send the side wall of plate 421.423 one side of ultrasonic sensor can distinguish its institute
Corresponding position whether there is tire, if there is tire, then driving top send plate 421 to compress wheel, and if there is no tire,
Plate 421 is sent to keep original state in the top of corresponding position；On the other hand, ultrasonic sensor 423 can also be used to detect AGV carrying
Whether device traveling has barrier on the way, which is mainly made of a pair of of ultrasonic sensor 423 and control chip.Work as ultrasound
The sound wave of wave emission sensor transmitting propagate encounter barrier on the way when the acoustic signals that can reflect, and be reflected will be by
Ultrasonic receiver sensor receives, while controlling chip using sound wave transmitting and received time difference to calculate barrier and AGV
The distance of handling device, to determine the operation conditions of AGV handling device.The process guarantees that AGV handling device is travelling on the way
It avoids colliding the normally travel for influencing AGV handling device with barrier.
It compresses power in view of the pressure that tire is born is limited, therefore to what tire applied and should be maintained at and can resist tire,
It is unlikely to damage tire again.Pressure inductor 422 is for incuding the pressure that vehicle tyre receives, to control driving clamping device
4 motion state.
As shown in fig. 6, as preferred embodiment, a kind of method for carrying of the AGV handling device for stereo warehouse,
The following steps are included:
S100, measurement: measurement needs the wheelspan between carrying vehicle two-wheeled；
S200, loading: vehicle enters on bogey 3 along guide groove 33；
S300, limit: driving clamping device 4 locks vehicle tyre from the inside of wheel according to the wheelspan of measurement；
S400, transport: vehicle is carried to specified entrucking place through AGV handling device；
S500, lifting: after vehicle is raised to the level height of entrucking by lifting device 2, inclining to suitable entrucking is adjusted
Rake angle；
S600, unload: vehicle is offloaded on transport lorry by AGV handling device.When unloading, driving clamping device 4 is run
To initial position, vehicle tyre is in non-locked state.
Forward motion, transverse shifting and the control method of turning of AGV handling device:
Multiple groups universal wheel 11 rotates in same direction in original state, at this time AGV handling device forward motion；Universal wheel 11 is with actively
90 ° of 124 synchronous rotary is taken turns, at this time the transverse movement of AGV handling device；Front and back universal wheel 11 rotates different angles respectively, then AGV
Handling device turning.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of AGV handling device for stereo warehouse, it is characterised in that: including
It carries main body (1), the bottom for carrying main body (1) is equipped with universal wheel (11) and drives the universal wheel (11)
Speed reduction driving mechanism for power (12)；
Lifting device (2), the lifting device (2) is mounted in carrying main body (1) and expandable；
Bogey (3), the bogey (3) include carrying platform (31) and the wheel plate (32) that rolls for wheel, institute
The top that carrying platform (31) is fixedly mounted on lifting device (2) is stated, wheel plate (32) Parallel Symmetric is mounted on carrying
The upper surface of platform (31)；
It drives clamping device (4), the driving clamping device (4) includes that clamping main body (41), jack unit (42) and top are sent
Cylinder (43), the clamping main body (41) are fixed between two wheel plates (32), and the cylinder (43) of supplying gas that pushes up is mounted on
Two opposite flanks of clamping main body (41), the jack unit (42) be mounted on top supply gas cylinder (43) top for holding out against institute
On the inside of the wheel for wanting carrying vehicle.
2. a kind of AGV handling device for stereo warehouse according to claim 1, it is characterised in that: the retardation gear
Motivation structure (12) includes combined worm speed reducer (121) and direct current generator (122), the output shaft of the direct current generator (122)
It is connected by an axis connected device with the input shaft of worm speed reducer (121), the output shaft of the worm speed reducer (121) is connected with
Transmission gear (123), the transmission gear (123) are connected with the driving wheel (124) engaged, universal wheel (11) installation
On driving wheel (124), the driving wheel (124) is consistent with the steering of universal wheel (11).
3. a kind of AGV handling device for stereo warehouse according to claim 1, it is characterised in that: the lifting dress
Setting (2) includes expansion bracket (21) and angular increment device (22), and the angular increment device (22) is mounted on expansion bracket (21)
Bottom both ends are used to be lifted one end of the expansion bracket (21) to special angle.
4. a kind of AGV handling device for stereo warehouse according to claim 1, it is characterised in that: the wheel plate
It (32) include horizontal rolled plate (321) and the gradient rolled plate (322) for being located at horizontal rolled plate (321) both ends, the horizontal stone roller
The surface of pressing plate (321) and gradient rolled plate (322) is provided with the anti-skid rubber cushion (323) of protrusion, and the wheel plate
(32) guide groove (33) of guidance vehicles while passing is provided on.
5. a kind of AGV handling device for stereo warehouse according to claim 1, it is characterised in that: the wheel plate
(32) limit switches (34) are set on, limit the motion state of driving clamping device (4).
6. a kind of AGV handling device for stereo warehouse according to claim 1, it is characterised in that: the clamping master
The width of body (41) is less than the chassis spacing between conventional vehicle two-wheeled, and the jack unit being located on the clamping main body (41)
(42) vertical height is greater than the height of wheel plate (32) upper surface.
7. a kind of AGV handling device for stereo warehouse according to claim 1, it is characterised in that: the press dress
Setting (42) includes that plate (421), the pressure inductor are sent in pressure inductor (422), ultrasonic sensor (423) and several tops
(422) and ultrasonic sensor (423) is installed in the side wall for pushing up and sending plate (421).
8. a kind of method for carrying of the AGV handling device for stereo warehouse, it is characterised in that: the following steps are included:
S100, measurement: measurement needs the wheelspan between carrying vehicle two-wheeled；
S200, loading: vehicle enters on bogey (3) along guide groove (33)；
S300, limit: driving clamping device (4) locks vehicle tyre from the inside of wheel according to the wheelspan of measurement；
S400, transport: vehicle is carried to specified entrucking place through AGV handling device；
S500, lifting: it after vehicle is raised to the level height of entrucking by lifting device (2), adjusts to the inclination for being suitable for entrucking
Angle；
S600, unload: vehicle is offloaded on transport lorry by AGV handling device.
9. a kind of method for carrying of AGV handling device for stereo warehouse according to claim 8, it is characterised in that:
When unloading, to initial position, vehicle tyre is in non-locked state for driving clamping device (4) operation.
10. a kind of method for carrying of AGV handling device for stereo warehouse according to claim 8, it is characterised in that:
Universal wheel described in multiple groups (11) rotates in same direction in original state, at this time AGV handling device forward motion；
The universal wheel (11) is with 90 ° of synchronous rotary of driving wheel (124), at this time AGV handling device transverse movement；
The front and back universal wheel (11) rotates different angles respectively, then AGV handling device is turned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910378590.4A CN110182503A (en) | 2019-05-08 | 2019-05-08 | A kind of AGV handling device and method for carrying for stereo warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910378590.4A CN110182503A (en) | 2019-05-08 | 2019-05-08 | A kind of AGV handling device and method for carrying for stereo warehouse |
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| Publication Number | Publication Date |
|---|---|
| CN110182503A true CN110182503A (en) | 2019-08-30 |
Family
ID=67715859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910378590.4A Pending CN110182503A (en) | 2019-05-08 | 2019-05-08 | A kind of AGV handling device and method for carrying for stereo warehouse |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247408A (en) * | 2020-02-11 | 2021-08-13 | 金全益股份有限公司 | Carrier structure of unmanned carrier |
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|---|---|---|---|---|
| US4582464A (en) * | 1983-03-11 | 1986-04-15 | S.I.T.I. Societa Impianti Termoelettrici Industriali S.P.A. | Buffer storage unit for ceramic articles |
| JPH04106276A (en) * | 1990-08-24 | 1992-04-08 | Sakakibara:Kk | Solid car port |
| JP2008121396A (en) * | 2006-11-13 | 2008-05-29 | Tadashi Watanabe | Parking device |
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| CN206091467U (en) * | 2016-10-20 | 2017-04-12 | 温州燧人智能科技有限公司 | Intelligence garage parking moves car robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113247408A (en) * | 2020-02-11 | 2021-08-13 | 金全益股份有限公司 | Carrier structure of unmanned carrier |
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Application publication date: 20190830 |
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